/** Array of sensors, initialised by Sensor_Init **/
static Sensor g_sensors[NUMSENSORS]; //global to this file
+/** Array of sensor threshold structures defining the safety values of each sensor**/
+const SensorThreshold thresholds[NUMSENSORS]= {
+ //Max Safety, Min safety, Max warning, Min warning
+ {1,-1,1,-1}, // ANALOG_TEST0
+ {500,0,499,0}, // ANALOG_TEST1
+ {5,-5,4,-4}, // ANALOG_FAIL0
+ {1,0,1,0}, // DIGITAL_TEST0
+ {1,0,1,0}, // DIGITAL_TEST1
+ {1,0,1,0} // DIGITAL_FAIL0
+};
+
/** Human readable names for the sensors **/
const char * g_sensor_names[NUMSENSORS] = {
"analog_test0", "analog_test1",
- "digital_test0", "digital_test1"
+ "analog_fail0", "digital_test0",
+ "digital_test1", "digital_fail0"
};
/**
{
g_sensors[i].id = i;
Data_Init(&(g_sensors[i].data_file));
- g_sensors[i].record_data = false;
+ g_sensors[i].record_data = false;
}
}
*/
void Sensor_Start(Sensor * s, const char * experiment_name)
{
+ // Set filename
char filename[BUFSIZ];
- if (sprintf(filename, "%s_%d", experiment_name, s->id) >= BUFSIZ)
+ if (sprintf(filename, "%s_s%d", experiment_name, s->id) >= BUFSIZ)
{
Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
}
+
+ Log(LOGDEBUG, "Sensor %d with DataFile \"%s\"", s->id, filename);
+ // Open DataFile
Data_Open(&(s->data_file), filename);
-
+
+ s->record_data = true; // Don't forget this!
+
+ // Create the thread
pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
}
*/
void Sensor_Stop(Sensor * s)
{
+ // Stop
if (s->record_data)
{
s->record_data = false;
- pthread_join(s->thread, NULL);
- Data_Close(&(s->data_file));
+ pthread_join(s->thread, NULL); // Wait for thread to exit
+ Data_Close(&(s->data_file)); // Close DataFile
+ s->newest_data.time_stamp = 0;
+ s->newest_data.value = 0;
}
}
Sensor_Start(g_sensors+i, experiment_name);
}
+
+/**
+ * Checks the sensor data for unsafe or unexpected results
+ * @param sensor_id - The ID of the sensor
+ * @param value - The value from the sensor to test
+ */
+void Sensor_CheckData(SensorId id, double value)
+{
+ if( value > thresholds[id].max_error || value < thresholds[id].min_error)
+ {
+ Log(LOGERR, "Sensor %s is above or below its safety value of %f or %f\n", g_sensor_names[id],thresholds[id].max_error, thresholds[id].min_error);
+ //new function that stops actuators?
+ }
+ else if( value > thresholds[id].max_warn || value < thresholds[id].min_warn)
+ {
+ Log(LOGWARN, "Sensor %s is above or below its warning value of %f or %f\n", g_sensor_names[id],thresholds[id].max_warn, thresholds[id].min_warn);
+ }
+}
+
+
/**
* Read a DataPoint from a Sensor; block until value is read
* @param id - The ID of the sensor
case ANALOG_TEST0:
d->value = (double)(rand() % 100) / 100;
break;
-
case ANALOG_TEST1:
{
static int count = 0;
+ count %= 500;
d->value = count++;
break;
}
+ case ANALOG_FAIL0:
+ d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1);
+ //Gives a value between -5 and 5
+ break;
case DIGITAL_TEST0:
d->value = t.tv_sec % 2;
break;
case DIGITAL_TEST1:
d->value = (t.tv_sec+1)%2;
break;
+ case DIGITAL_FAIL0:
+ if( rand() % 100 > 98)
+ d->value = 2;
+ d->value = rand() % 2;
+ //Gives 0 or 1 or a 2 every 1/100 times
+ break;
default:
Fatal("Unknown sensor id: %d", s->id);
break;
usleep(100000); // simulate delay in sensor polling
// Perform sanity check based on Sensor's ID and the DataPoint
- Sensor_CheckData(s->id, d);
+ Sensor_CheckData(s->id, d->value);
// Update latest DataPoint if necessary
bool result = (d->value != s->newest_data.value);
if (result)
{
s->newest_data.time_stamp = d->time_stamp;
+ s->newest_data.value = d->value;
}
return result;
}
-/**
- * Checks the sensor data for unsafe or unexpected results
- * @param sensor_id - The ID of the sensor
- * @param d - DataPoint to check
- */
-void Sensor_CheckData(SensorId id, DataPoint * d)
-{
- //TODO: Implement
- /*
- switch (sensor_id)
- {
- case ANALOG_TEST0:
- {
- if( *sensor value* > ANALOG_TEST0_SAFETY)
- {
- LogEx(LOGERR, GetData, Sensor analog_test0 is above the safe value);
- //new log function that stops actuators?
- }
- //Also include a warning level?
- else if( *sensor value* > ANALOG_TEST0_WARN)
- {
- LogEx(LOGWARN, GetData, Sensor analog_test0);
- }
- }
- }
- */
-}
-
-
/**
* Record data from a single Sensor; to be run in a seperate thread
* @param arg - Cast to Sensor* - Sensor that the thread will handle
void * Sensor_Loop(void * arg)
{
Sensor * s = (Sensor*)(arg);
+ Log(LOGDEBUG, "Sensor %d starts", s->id);
// Until the sensor is stopped, record data points
while (s->record_data)
{
DataPoint d;
+ //Log(LOGDEBUG, "Sensor %d reads data [%f,%f]", s->id, d.time_stamp, d.value);
if (Sensor_Read(s, &d)) // If new DataPoint is read:
{
+ //Log(LOGDEBUG, "Sensor %d saves data [%f,%f]", s->id, d.time_stamp, d.value);
Data_Save(&(s->data_file), &d, 1); // Record it
}
}
// Needed to keep pthreads happy
+
+ Log(LOGDEBUG, "Sensor %d finished", s->id);
return NULL;
}
/**
* Helper: Begin sensor response in a given format
* @param context - the FCGIContext
- * @param format - Format
* @param id - ID of sensor
+ * @param format - Format
*/
void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format)
{
case JSON:
FCGI_BeginJSON(context, STATUS_OK);
FCGI_JSONLong("id", id);
- FCGI_JSONKey("data");
break;
default:
FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
int id = 0;
double start_time = 0;
double end_time = current_time;
- char * fmt_str;
+ const char * fmt_str;
// key/value pairs
FCGIValue values[] = {
- {"id", &id, FCGI_REQUIRED(FCGI_LONG_T)},
+ {"id", &id, FCGI_REQUIRED(FCGI_INT_T)},
{"format", &fmt_str, FCGI_STRING_T},
{"start_time", &start_time, FCGI_DOUBLE_T},
{"end_time", &end_time, FCGI_DOUBLE_T},
} SensorParams;
// Fill values appropriately
- if (!FCGI_ParseRequest(context, params, values, sizeof(values)))
+ if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
{
// Error occured; FCGI_RejectJSON already called
return;
// Error checking on sensor id
if (id < 0 || id >= NUMSENSORS)
{
- Log(LOGERR, "Invalid id %d", id);
- FCGI_RejectJSON(context, "Invalid id"); // Whoops, I do still need this!
- }
-
- DataFormat format = JSON;
-
- // Check if format type was specified
- if (FCGI_RECEIVED(values[FORMAT].flags))
- {
- if (strcmp(fmt_str, "json") == 0)
- format = JSON;
- else if (strcmp(fmt_str, "tsv") == 0)
- format = TSV;
- else
- Log(LOGERR, "Unknown format type \"%s\"", fmt_str);
+ FCGI_RejectJSON(context, "Invalid sensor id");
+ return;
}
-
- // Get Sensor
Sensor * s = g_sensors+id;
+ DataFormat format = Data_GetFormat(&(values[FORMAT]));
+
// Begin response
Sensor_BeginResponse(context, id, format);
-
- // If a time was specified
- if (FCGI_RECEIVED(values[START_TIME].flags) || FCGI_RECEIVED(values[END_TIME].flags))
- {
- // Wrap times relative to the current time
- if (start_time < 0)
- start_time += current_time;
- if (end_time < 0)
- end_time += current_time;
- // Print points by time range
- Data_PrintByTimes(&(s->data_file), start_time, end_time, format);
-
- }
- else // No time was specified; just return a recent set of points
- {
- pthread_mutex_lock(&(s->data_file.mutex));
- int start_index = s->data_file.num_points-DATA_BUFSIZ;
- int end_index = s->data_file.num_points-1;
- pthread_mutex_unlock(&(s->data_file.mutex));
-
- // Print points by indexes
- Data_PrintByIndexes(&(s->data_file), start_index, end_index, format);
- }
+ // Print Data
+ Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
// Finish response
Sensor_EndResponse(context, id, format);
}
+
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